EP2910348A4 - Weaving control device of multi-joint robot - Google Patents

Weaving control device of multi-joint robot

Info

Publication number
EP2910348A4
EP2910348A4 EP13847073.7A EP13847073A EP2910348A4 EP 2910348 A4 EP2910348 A4 EP 2910348A4 EP 13847073 A EP13847073 A EP 13847073A EP 2910348 A4 EP2910348 A4 EP 2910348A4
Authority
EP
European Patent Office
Prior art keywords
control device
joint robot
weaving control
weaving
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13847073.7A
Other languages
German (de)
French (fr)
Other versions
EP2910348A1 (en
EP2910348B1 (en
Inventor
Takashi Wada
Yoshiharu Nishida
Yoshihide Inoue
Shuichi Inada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobe Steel Ltd
Original Assignee
Kobe Steel Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kobe Steel Ltd filed Critical Kobe Steel Ltd
Publication of EP2910348A1 publication Critical patent/EP2910348A1/en
Publication of EP2910348A4 publication Critical patent/EP2910348A4/en
Application granted granted Critical
Publication of EP2910348B1 publication Critical patent/EP2910348B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/0216—Seam profiling, e.g. weaving, multilayer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0953—Monitoring or automatic control of welding parameters using computing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/42—Welding

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Feedback Control In General (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
EP13847073.7A 2012-10-19 2013-10-15 Weaving control device of multi-joint robot Active EP2910348B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012231871A JP5916583B2 (en) 2012-10-19 2012-10-19 Weaving control device for articulated robot
PCT/JP2013/078016 WO2014061681A1 (en) 2012-10-19 2013-10-15 Weaving control device of multi-joint robot

Publications (3)

Publication Number Publication Date
EP2910348A1 EP2910348A1 (en) 2015-08-26
EP2910348A4 true EP2910348A4 (en) 2016-07-27
EP2910348B1 EP2910348B1 (en) 2017-08-16

Family

ID=50488242

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13847073.7A Active EP2910348B1 (en) 2012-10-19 2013-10-15 Weaving control device of multi-joint robot

Country Status (6)

Country Link
US (1) US9505074B2 (en)
EP (1) EP2910348B1 (en)
JP (1) JP5916583B2 (en)
KR (1) KR101688344B1 (en)
CN (1) CN104736303B (en)
WO (1) WO2014061681A1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105934724B (en) * 2014-01-23 2018-12-21 三菱电机株式会社 Control device of electric motor
US10455158B2 (en) * 2015-09-17 2019-10-22 IJK Controls LLC Stabilized gimbal system with unlimited field of regard
JP6325504B2 (en) * 2015-10-28 2018-05-16 ファナック株式会社 Servo control device having a function of automatically adjusting a learning controller
CN107097233A (en) * 2017-04-17 2017-08-29 珞石（山东）智能科技有限公司 A kind of industrial robot dragging teaching method of non-moment sensor
CN108188548B (en) * 2017-12-28 2020-06-26 江苏杰瑞科技集团有限责任公司 Robot multilayer and multi-pass welding method
KR20180098492A (en) 2018-08-21 2018-09-04 한국과학기술연구원 Solar cell and process of preparing the same
JP7186571B2 (en) * 2018-10-10 2022-12-09 日本電産サンキョー株式会社 Apparatus and method for determining operation completion time of robot
KR102174537B1 (en) 2019-04-10 2020-11-05 한국과학기술연구원 Solar cell and process of preparing the same
TW202237351A (en) 2021-03-30 2022-10-01 日商發那科股份有限公司 Device for generating signal for weaving motion, control device, and method
JP2022157884A (en) * 2021-03-31 2022-10-14 セイコーエプソン株式会社 Method for controlling robot, robot system, and program for controlling robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6469467B1 (en) * 1999-05-07 2002-10-22 Toshiba Kikai Kabushiki Kaisha Servo control apparatus and method of stabilizing same
US20120065902A1 (en) * 2010-09-14 2012-03-15 Canon Kabushiki Kaisha Sensor apparatus and robot apparatus
US20120239198A1 (en) * 2009-12-02 2012-09-20 Honda Motor Co., Ltd. Control device for power device

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JPH06222817A (en) * 1993-01-27 1994-08-12 Komatsu Ltd Robot weaving controller
JPH0732147A (en) * 1993-07-19 1995-02-03 Komatsu Ltd Device for measuring weaving control parameter of robot
JPH0760667A (en) * 1993-08-31 1995-03-07 Komatsu Ltd Weaving control device for robot
JPH10235582A (en) * 1997-02-26 1998-09-08 Yaskawa Electric Corp Weaving control device for robot
JP3983577B2 (en) * 2002-03-26 2007-09-26 株式会社神戸製鋼所 Control device using estimation device
JP4498061B2 (en) * 2004-08-18 2010-07-07 株式会社ダイヘン Welding robot controller
JP4842656B2 (en) * 2006-02-14 2011-12-21 株式会社ダイヘン Welding robot controller
JP2009113172A (en) * 2007-11-08 2009-05-28 Mitsubishi Electric Corp Command value generating device
JP5302639B2 (en) * 2008-11-21 2013-10-02 三菱重工業株式会社 Servo control device
JP2010186461A (en) * 2009-01-19 2010-08-26 Jtekt Corp Teaching signal generating method for track control, track control device and machine tool
CN101785704B (en) * 2010-01-15 2012-06-06 广东工业大学 Self-adaptive filtering device of master-slave minimally-invasive surgery robot system
JP5170175B2 (en) * 2010-06-30 2013-03-27 株式会社安川電機 Robot system
JP5365595B2 (en) * 2010-09-15 2013-12-11 株式会社安川電機 Speed reducer abnormality determination method, abnormality determination apparatus, robot, and robot system
CN103270692B (en) * 2010-12-20 2016-01-20 三菱电机株式会社 Controller for motor
JP5409844B2 (en) * 2012-05-30 2014-02-05 株式会社神戸製鋼所 Trajectory control apparatus and control method for articulated robot
JP5374613B2 (en) * 2012-05-30 2013-12-25 株式会社神戸製鋼所 Elastic deformation compensation control apparatus and control method for articulated robot
JP5642214B2 (en) * 2013-02-15 2014-12-17 株式会社神戸製鋼所 Elastic deformation compensation controller for articulated robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6469467B1 (en) * 1999-05-07 2002-10-22 Toshiba Kikai Kabushiki Kaisha Servo control apparatus and method of stabilizing same
US20120239198A1 (en) * 2009-12-02 2012-09-20 Honda Motor Co., Ltd. Control device for power device
US20120065902A1 (en) * 2010-09-14 2012-03-15 Canon Kabushiki Kaisha Sensor apparatus and robot apparatus

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2014061681A1 *

Also Published As

Publication number Publication date
EP2910348A1 (en) 2015-08-26
US9505074B2 (en) 2016-11-29
KR101688344B1 (en) 2016-12-20
JP5916583B2 (en) 2016-05-11
CN104736303B (en) 2016-12-14
CN104736303A (en) 2015-06-24
EP2910348B1 (en) 2017-08-16
WO2014061681A1 (en) 2014-04-24
JP2014083605A (en) 2014-05-12
US20150290804A1 (en) 2015-10-15
KR20150056833A (en) 2015-05-27

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